Reimplement robot_controller using ROS2 action

src/robot_controller/CMakeLists.txt

@@ -1,29 +1,31 @@
 cmake_minimum_required(VERSION 3.8)
 project(robot_controller)
 
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
 find_package(robot_interfaces REQUIRED)
 
+add_executable(robot_controller src/cpp/robot_controller.cpp)
+ament_target_dependencies(robot_controller
+  "rclcpp"
+  "rclcpp_action"
+  "robot_interfaces")
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-add_executable(robot_controller src/cpp/robot_controller.cpp)
-ament_target_dependencies(robot_controller rclcpp robot_interfaces)
-
 install(TARGETS
   robot_controller
   DESTINATION lib/${PROJECT_NAME})